Error propagation and handling (#24)

* error handling for step and shutdown

* fixed step error handling

* update mini-adas for testing step and shutdown error propagation

* update design docs for step and shutdown error propagation

* update testing doc

* remove failure handling sequence diagrams

* remove testing doc from mini-adas

Author: ShoroukRamzy

examples/rust/cycle-benchmark/src/activities.rs

@@ -12,6 +12,7 @@
  ********************************************************************************/
 
 use feo::activity::Activity;
+use feo::error::ActivityError;
 use feo::ids::ActivityId;
 use feo_tracing::{instrument, tracing};
 
@@ -42,10 +43,13 @@ impl Activity for DummyActivity {
     fn startup(&mut self) {}
 
     #[instrument(name = "Activity step")]
-    fn step(&mut self) {
+    fn step(&mut self) -> Result<(), ActivityError> {
         tracing::event!(tracing::Level::TRACE, id = self._id_str);
+        Ok(())
     }
 
     #[instrument(name = "Activity shutdown")]
-    fn shutdown(&mut self) {}
+    fn shutdown(&mut self) -> Result<(), ActivityError> {
+        Ok(())
+    }
 }

examples/rust/cycle-benchmark/src/composites.rs

@@ -14,6 +14,7 @@
 use crate::activities::DummyActivity;
 use crate::config::ActivityDependencies;
 use feo::activity::{Activity, ActivityBuilder, ActivityIdAndBuilder};
+use feo::error::ActivityError;
 use feo::ids::{ActivityId, WorkerId};
 use feo_tracing::{instrument, tracing};
 use std::collections::{HashMap, HashSet};
@@ -55,18 +56,20 @@ impl Activity for CompositeActivity {
     }
 
     #[instrument(name = "Composite step")]
-    fn step(&mut self) {
+    fn step(&mut self) -> Result<(), ActivityError> {
         tracing::event!(tracing::Level::TRACE, id = self._activity_id_str);
         for activity in &mut self.activities {
-            activity.step();
+            activity.step()?;
         }
+        Ok(())
     }
 
     #[instrument(name = "Composite shutdown")]
-    fn shutdown(&mut self) {
+    fn shutdown(&mut self) -> Result<(), ActivityError> {
         for activity in &mut self.activities {
-            activity.shutdown();
+            activity.shutdown()?;
         }
+        Ok(())
     }
 }
 

examples/rust/mini-adas/src/activities/components.rs

@@ -18,6 +18,7 @@ use core::mem::MaybeUninit;
 use core::ops::{Deref, DerefMut, Range};
 use core::time::Duration;
 use feo::activity::Activity;
+use feo::error::ActivityError;
 use feo::ids::ActivityId;
 use feo_com::interface::{ActivityInput, ActivityOutput};
 #[cfg(feature = "com_iox2")]
@@ -28,7 +29,6 @@ use feo_log::debug;
 use feo_tracing::instrument;
 use std::hash::RandomState;
 use std::thread;
-
 const SLEEP_RANGE: Range<i64> = 10..45;
 
 /// Camera activity
@@ -85,7 +85,7 @@ impl Activity for Camera {
     fn startup(&mut self) {}
 
     #[instrument(name = "Camera")]
-    fn step(&mut self) {
+    fn step(&mut self) -> Result<(), ActivityError> {
         debug!("Stepping Camera");
         sleep_random();
 
@@ -95,11 +95,13 @@ impl Activity for Camera {
             let camera = camera.write_payload(image);
             camera.send().unwrap();
         }
+        Ok(())
     }
 
     #[instrument(name = "Camera shutdown")]
-    fn shutdown(&mut self) {
+    fn shutdown(&mut self) -> Result<(), ActivityError> {
         debug!("Shutting down Camera activity {}", self.activity_id);
+        Ok(())
     }
 }
 
@@ -150,7 +152,7 @@ impl Activity for Radar {
     fn startup(&mut self) {}
 
     #[instrument(name = "Radar")]
-    fn step(&mut self) {
+    fn step(&mut self) -> Result<(), ActivityError> {
         debug!("Stepping Radar");
         sleep_random();
 
@@ -160,11 +162,13 @@ impl Activity for Radar {
             let radar = radar.write_payload(scan);
             radar.send().unwrap();
         }
+        Ok(())
     }
 
     #[instrument(name = "Radar shutdown")]
-    fn shutdown(&mut self) {
+    fn shutdown(&mut self) -> Result<(), ActivityError> {
         debug!("Shutting down Radar activity {}", self.activity_id);
+        Ok(())
     }
 }
 
@@ -235,7 +239,7 @@ impl Activity for NeuralNet {
     fn startup(&mut self) {}
 
     #[instrument(name = "NeuralNet")]
-    fn step(&mut self) {
+    fn step(&mut self) -> Result<(), ActivityError> {
         debug!("Stepping NeuralNet");
         sleep_random();
 
@@ -252,11 +256,13 @@ impl Activity for NeuralNet {
             debug!("Sending Scene {:?}", scene.deref());
             scene.send().unwrap();
         }
+        Ok(())
     }
 
     #[instrument(name = "NeuralNet shutdown")]
-    fn shutdown(&mut self) {
+    fn shutdown(&mut self) -> Result<(), ActivityError> {
         debug!("Shutting down NeuralNet activity {}", self.activity_id);
+        Ok(())
     }
 }
 
@@ -299,7 +305,7 @@ impl Activity for EmergencyBraking {
     fn startup(&mut self) {}
 
     #[instrument(name = "EmergencyBraking")]
-    fn step(&mut self) {
+    fn step(&mut self) -> Result<(), ActivityError> {
         debug!("Stepping EmergencyBraking");
         sleep_random();
 
@@ -331,14 +337,16 @@ impl Activity for EmergencyBraking {
                 brake_instruction.send().unwrap();
             }
         }
+        Ok(())
     }
 
     #[instrument(name = "EmergencyBraking shutdown")]
-    fn shutdown(&mut self) {
+    fn shutdown(&mut self) -> Result<(), ActivityError> {
         debug!(
             "Shutting down EmergencyBraking activity {}",
             self.activity_id
         );
+        Ok(())
     }
 }
 
@@ -374,7 +382,7 @@ impl Activity for BrakeController {
     fn startup(&mut self) {}
 
     #[instrument(name = "BrakeController")]
-    fn step(&mut self) {
+    fn step(&mut self) -> Result<(), ActivityError> {
         debug!("Stepping BrakeController");
         sleep_random();
 
@@ -386,14 +394,16 @@ impl Activity for BrakeController {
                 )
             }
         }
+        Ok(())
     }
 
     #[instrument(name = "BrakeController shutdown")]
-    fn shutdown(&mut self) {
+    fn shutdown(&mut self) -> Result<(), ActivityError> {
         debug!(
             "Shutting down BrakeController activity {}",
             self.activity_id
         );
+        Ok(())
     }
 }
 
@@ -428,21 +438,23 @@ impl Activity for EnvironmentRenderer {
     fn startup(&mut self) {}
 
     #[instrument(name = "EnvironmentRenderer")]
-    fn step(&mut self) {
+    fn step(&mut self) -> Result<(), ActivityError> {
         debug!("Stepping EnvironmentRenderer");
         sleep_random();
 
         if let Ok(_scene) = self.input_scene.read() {
             debug!("Rendering scene");
         }
+        Ok(())
     }
 
     #[instrument(name = "EnvironmentRenderer shutdown")]
-    fn shutdown(&mut self) {
+    fn shutdown(&mut self) -> Result<(), ActivityError> {
         debug!(
             "Shutting down EnvironmentRenderer activity {}",
             self.activity_id
         );
+        Ok(())
     }
 }
 
@@ -478,7 +490,7 @@ impl Activity for SteeringController {
     fn startup(&mut self) {}
 
     #[instrument(name = "SteeringController")]
-    fn step(&mut self) {
+    fn step(&mut self) -> Result<(), ActivityError> {
         debug!("Stepping SteeringController");
         sleep_random();
 
@@ -488,14 +500,16 @@ impl Activity for SteeringController {
                 steering.angle
             )
         }
+        Ok(())
     }
 
     #[instrument(name = "SteeringController shutdown")]
-    fn shutdown(&mut self) {
+    fn shutdown(&mut self) -> Result<(), ActivityError> {
         debug!(
             "Shutting down SteeringController activity {}",
             self.activity_id
         );
+        Ok(())
     }
 }
 

feo/src/activity.rs

@@ -12,6 +12,7 @@
  ********************************************************************************/
 
 //! Activity and related structs and traits
+use crate::error::ActivityError;
 use crate::ids::ActivityId;
 use alloc::boxed::Box;
 
@@ -24,10 +25,10 @@ pub trait Activity {
     fn startup(&mut self);
 
     /// Called upon each step
-    fn step(&mut self);
+    fn step(&mut self) -> Result<(), ActivityError>;
 
     /// Called upon shutdown
-    fn shutdown(&mut self);
+    fn shutdown(&mut self) -> Result<(), ActivityError>;
 }
 
 /// Activity Builder trait.

feo/src/cpp.rs

@@ -13,7 +13,7 @@
 
 //! Provides a convenience macro creating ffi definitions and Rust glue code for C++ components
 
-/// Create ffi definitions and Rust glue code for a C++ component  
+/// Create ffi definitions and Rust glue code for a C++ component
 ///
 /// Call: `cpp_activity!(name, library)`
 ///
@@ -34,6 +34,7 @@ macro_rules! cpp_activity {
     ( $name:ident, $library:literal ) => {
         pub mod $name {
             use feo::activity::Activity;
+            use feo::error::ActivityError;
             use feo::ids::ActivityId;
             use feo_cpp_macros::{make_fn, make_fn_call};
             use feo_tracing::{instrument, tracing};
@@ -91,15 +92,17 @@ macro_rules! cpp_activity {
                 }
 
                 #[instrument(name = "step")]
-                fn step(&mut self) {
+                fn step(&mut self) -> Result<(), ActivityError> {
                     // Safety: Call of external C functions belonging to C++ activitiy, to be reviewed
                     unsafe { make_fn_call!($name, _step, (self.cpp_activity)) };
+                    Ok(())
                 }
 
                 #[instrument(name = "shutdown")]
-                fn shutdown(&mut self) {
+                fn shutdown(&mut self) -> Result<(), ActivityError> {
                     // Safety: Call of external C functions belonging to C++ activitiy, to be reviewed
                     unsafe { make_fn_call!($name, _shutdown, (self.cpp_activity)) };
+                    Ok(())
                 }
             }
         }

feo/src/error.rs

@@ -16,11 +16,18 @@
 use crate::ids::{ActivityId, ChannelId, WorkerId};
 use crate::signalling::common::signals::Signal;
 use core::time::Duration;
+#[cfg(feature = "recording")]
+use postcard::experimental::max_size::MaxSize;
+#[cfg(feature = "recording")]
+use serde::Deserialize;
+#[cfg(feature = "recording")]
+use serde::Serialize;
 
 /// FEO Error type
 #[non_exhaustive]
 #[derive(Debug)]
 pub enum Error {
+    ActivityFailed(ActivityId, ActivityError),
     ActivityNotFound(ActivityId),
     Channel(&'static str),
     ChannelClosed,
@@ -32,11 +39,24 @@ pub enum Error {
     WorkerNotFound(WorkerId),
 }
 
+/// Defines the types of failures an Activity can report.
+#[cfg_attr(feature = "recording", derive(Serialize, Deserialize, MaxSize))]
+#[derive(Debug, Clone, Copy, PartialEq, Eq, Hash)]
+pub enum ActivityError {
+    /// A failure during a regular `step()` execution.
+    Step,
+    /// A failure during the `shutdown()` method.
+    Shutdown,
+}
+
 impl core::error::Error for Error {}
 
 impl core::fmt::Display for Error {
     fn fmt(&self, f: &mut core::fmt::Formatter) -> core::fmt::Result {
         match self {
+            Error::ActivityFailed(id, err) => {
+                write!(f, "activity {id} reported a failure: {err:?}")
+            }
             Error::ActivityNotFound(id) => write!(f, "failed to find activity with ID {id}"),
             Error::Channel(description) => write!(f, "channel error: {description}"),
             Error::ChannelClosed => write!(f, "channel closed by peer"),